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modify param for ego_planner

This commit is contained in:
robin_shaun 2021-04-19 10:16:54 +08:00
parent 8779f9c558
commit 250f0e8e66
3 changed files with 5 additions and 5 deletions
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2
motion_planning/3d/ego_planner/plan_manage/launch/advanced_param_xtdrone.xml
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@ -94,7 +94,7 @@
<param name="grid_map/local_update_range_z" value="4.5" />
<param name="grid_map/obstacles_inflation" value="0.2" />
<param name="grid_map/local_map_margin" value="10"/>
<param name="grid_map/ground_height" value="0.24"/>
<param name="grid_map/ground_height" value="-1"/>
<!-- camera parameter -->
<param name="grid_map/cx" value="$(arg cx)"/>
<param name="grid_map/cy" value="$(arg cy)"/>

6
motion_planning/3d/ego_planner/plan_manage/launch/single_uav.launch
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@ -1,7 +1,7 @@
<launch>
<arg name="map_size_x" value="20.0"/>
<arg name="map_size_y" value="20.0"/>
<arg name="map_size_z" value=" 3.0"/>
<arg name="map_size_x" value="100"/>
<arg name="map_size_y" value="100"/>
<arg name="map_size_z" value=" 5"/>
<arg name="odom_topic" value="vins_estimator/odometry" />

2
motion_planning/3d/ego_transfer.py
View File

@ -23,7 +23,7 @@ def vision_callback(data):
local_pose.pose.orientation.y = q_[2]
local_pose.pose.orientation.z = q_[3]
rospy.init_node(vehicle_type+"_"+vehicle_id+'/ego_transfer')
rospy.init_node(vehicle_type+"_"+vehicle_id+'_ego_transfer')
rospy.Subscriber(vehicle_type+"_"+vehicle_id+"/mavros/vision_pose/pose", PoseStamped, vision_callback)
position_pub = rospy.Publisher(vehicle_type+"_"+vehicle_id+"/camera_pose", PoseStamped, queue_size=2)
rate = rospy.Rate(60)